\section*{Introduction}
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The aim of this project is to implement a map making feature on a robot, using the Microsoft Robotic Development Studio. The module is supposed to use both deliberative and reactive functions of the simulated robot. The robot's tools are laser echoes, to find out where are obstacles in a given range, and GPS localization. Echoes, speed and localization are either set or get by server requests. The map must be represented as a quad tree, i.e. a grid in which each basic cell may be divided in four new cells in order to be more precise. Each non divided cell then handles information about how much probable it is occupied. The way this map is managed will be explained later in this report.
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The concept of our robot is quite simple : first it searches a goal as GPS coordinates. Then it computes a path to reach this goal. If there is no path, the goal is supposed to be unreachable. Else, the robot follows the coordinates provided by the path. At each time, laser echoes are executed to check whether an obstacle is on its way. 
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In the first part the basic objects -- as map representation -- will be explained. Then we will focus on how the path is computed, using the A* algorithm. Finally indication on how to compile and run the program will be exposed.

